=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Profile-alignemnt Version -> %s 0.0.9
Input file:  /working/0c46bc2c-e962-4e33-84da-2225bd579c03/processing/data/laser.ptd.cbor
Add sonar points?:  True
Selected method:  fit
Shape to fit: /working/shape.shp
The output alignment extension: json
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 Reading PTD file in cbor format...
 Completed!
=-=-=-=-=-Adding Sonar points -=-=-=-=-=-=-
2025-12-23T02:19:16 - INFO:  Reading sonar track took 0.10415196418762207 sec!
2025-12-23T02:19:16 - INFO:  Reading sonar alignment track took {0.0067272186279296875} sec!
=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 Calculating the size for all frames

  0%|          | 0/200 [00:00<?, ?it/s]
  0%|          | 1/200 [00:00<00:23,  8.49it/s]
  2%|▏         | 4/200 [00:00<00:12, 15.18it/s]
  4%|▎         | 7/200 [00:00<00:11, 17.46it/s]
  4%|▍         | 9/200 [00:00<00:11, 16.07it/s]
  6%|▌         | 11/200 [00:00<00:11, 16.67it/s]
  6%|▋         | 13/200 [00:00<00:11, 15.65it/s]
  8%|▊         | 15/200 [00:00<00:11, 16.49it/s]
  8%|▊         | 17/200 [00:01<00:10, 17.29it/s]
 10%|▉         | 19/200 [00:01<00:10, 17.78it/s]
 11%|█         | 22/200 [00:01<00:09, 18.95it/s]
 12%|█▎        | 25/200 [00:01<00:08, 19.74it/s]
 14%|█▎        | 27/200 [00:01<00:09, 18.55it/s]
 14%|█▍        | 29/200 [00:01<00:09, 18.20it/s]
 16%|█▌        | 31/200 [00:01<00:09, 16.94it/s]
 17%|█▋        | 34/200 [00:01<00:09, 18.18it/s]
 18%|█▊        | 36/200 [00:02<00:08, 18.58it/s]
 20%|█▉        | 39/200 [00:02<00:08, 19.55it/s]
 21%|██        | 42/200 [00:02<00:07, 20.49it/s]
 22%|██▎       | 45/200 [00:02<00:07, 19.68it/s]
 24%|██▎       | 47/200 [00:02<00:07, 19.16it/s]
 24%|██▍       | 49/200 [00:02<00:07, 19.07it/s]
 26%|██▌       | 51/200 [00:02<00:08, 18.57it/s]
 27%|██▋       | 54/200 [00:02<00:07, 19.23it/s]
 28%|██▊       | 56/200 [00:03<00:07, 19.08it/s]
 29%|██▉       | 58/200 [00:03<00:07, 19.22it/s]
 30%|███       | 60/200 [00:03<00:07, 19.02it/s]
 32%|███▏      | 63/200 [00:03<00:06, 19.98it/s]
 32%|███▎      | 65/200 [00:03<00:06, 19.76it/s]
 34%|███▎      | 67/200 [00:03<00:07, 18.85it/s]
 34%|███▍      | 69/200 [00:03<00:07, 18.48it/s]
 36%|███▌      | 71/200 [00:03<00:06, 18.57it/s]
 36%|███▋      | 73/200 [00:03<00:06, 18.94it/s]
 38%|███▊      | 75/200 [00:04<00:06, 19.14it/s]
 38%|███▊      | 77/200 [00:04<00:06, 18.96it/s]
 40%|███▉      | 79/200 [00:04<00:07, 17.25it/s]
 40%|████      | 81/200 [00:04<00:06, 17.45it/s]
 42%|████▏     | 83/200 [00:04<00:07, 16.65it/s]
 42%|████▎     | 85/200 [00:04<00:06, 16.95it/s]
 44%|████▎     | 87/200 [00:04<00:06, 16.16it/s]
 44%|████▍     | 89/200 [00:04<00:06, 16.93it/s]
 46%|████▌     | 92/200 [00:05<00:05, 18.68it/s]
 47%|████▋     | 94/200 [00:05<00:05, 18.34it/s]
 48%|████▊     | 96/200 [00:05<00:05, 18.34it/s]
 50%|████▉     | 99/200 [00:05<00:05, 19.41it/s]
 51%|█████     | 102/200 [00:05<00:04, 20.03it/s]
 52%|█████▎    | 105/200 [00:05<00:04, 19.95it/s]
 54%|█████▎    | 107/200 [00:05<00:04, 19.16it/s]
 55%|█████▍    | 109/200 [00:05<00:05, 17.80it/s]
 56%|█████▌    | 111/200 [00:06<00:05, 17.49it/s]
 56%|█████▋    | 113/200 [00:06<00:04, 17.42it/s]
 57%|█████▊    | 115/200 [00:06<00:04, 18.00it/s]
 58%|█████▊    | 117/200 [00:06<00:04, 17.45it/s]
 60%|██████    | 120/200 [00:06<00:04, 18.68it/s]
 61%|██████    | 122/200 [00:06<00:04, 18.50it/s]
 62%|██████▎   | 125/200 [00:06<00:03, 19.59it/s]
 64%|██████▍   | 128/200 [00:06<00:03, 19.74it/s]
 65%|██████▌   | 130/200 [00:07<00:03, 18.11it/s]
 66%|██████▋   | 133/200 [00:07<00:03, 18.90it/s]
 68%|██████▊   | 136/200 [00:07<00:03, 19.74it/s]
 69%|██████▉   | 138/200 [00:07<00:03, 18.29it/s]
 70%|███████   | 141/200 [00:07<00:03, 18.20it/s]
 72%|███████▏  | 144/200 [00:07<00:02, 19.39it/s]
 73%|███████▎  | 146/200 [00:07<00:03, 17.48it/s]
 74%|███████▍  | 148/200 [00:08<00:02, 17.92it/s]
 76%|███████▌  | 151/200 [00:08<00:02, 18.95it/s]
 76%|███████▋  | 153/200 [00:08<00:02, 19.07it/s]
 78%|███████▊  | 156/200 [00:08<00:02, 19.93it/s]
 79%|███████▉  | 158/200 [00:08<00:02, 19.76it/s]
 80%|████████  | 161/200 [00:08<00:01, 19.82it/s]
 82%|████████▏ | 164/200 [00:08<00:01, 19.79it/s]
 83%|████████▎ | 166/200 [00:08<00:01, 19.48it/s]
 84%|████████▍ | 169/200 [00:09<00:01, 19.28it/s]
 86%|████████▌ | 171/200 [00:09<00:01, 19.21it/s]
 86%|████████▋ | 173/200 [00:09<00:01, 18.78it/s]
 88%|████████▊ | 175/200 [00:09<00:01, 18.05it/s]
 89%|████████▉ | 178/200 [00:09<00:01, 18.53it/s]
 90%|█████████ | 180/200 [00:09<00:01, 17.49it/s]
 91%|█████████ | 182/200 [00:09<00:01, 17.67it/s]
 92%|█████████▏| 184/200 [00:09<00:00, 18.01it/s]
 93%|█████████▎| 186/200 [00:10<00:00, 17.16it/s]
 94%|█████████▍| 189/200 [00:10<00:00, 19.87it/s]
 96%|█████████▌| 192/200 [00:10<00:00, 18.07it/s]
 97%|█████████▋| 194/200 [00:10<00:00, 17.58it/s]
 98%|█████████▊| 197/200 [00:10<00:00, 18.25it/s]
100%|█████████▉| 199/200 [00:10<00:00, 18.63it/s]
100%|██████████| 200/200 [00:10<00:00, 18.45it/s]
 Median Scale of 200 frame found to be: 1.560638603311212
 Fit to reference shape: 

0it [00:00, ?it/s]
4it [00:00, 35.73it/s]
8it [00:00, 35.93it/s]
12it [00:00, 32.98it/s]
18it [00:00, 39.14it/s]
23it [00:00, 42.39it/s]
29it [00:00, 45.90it/s]
35it [00:00, 46.21it/s]
41it [00:00, 46.54it/s]
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51it [00:01, 39.46it/s]
56it [00:01, 36.41it/s]
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471it [00:14, 32.31it/s]
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488it [00:15, 32.67it/s]
492it [00:15, 31.66it/s]
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500it [00:15, 34.57it/s]
504it [00:15, 31.46it/s]
508it [00:15, 32.54it/s]
512it [00:15, 28.17it/s]
516it [00:16, 28.37it/s]
520it [00:16, 29.39it/s]
524it [00:16, 31.20it/s]
528it [00:16, 29.35it/s]
533it [00:16, 33.87it/s]
537it [00:16, 33.51it/s]
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549it [00:17, 32.89it/s]
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561it [00:17, 27.78it/s]
565it [00:17, 30.15it/s]
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577it [00:17, 30.18it/s]
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614it [00:19, 29.21it/s]
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648it [00:20, 34.77it/s]
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656it [00:20, 33.52it/s]
660it [00:20, 31.96it/s]
665it [00:20, 34.27it/s]
669it [00:20, 32.61it/s]
673it [00:20, 31.16it/s]
677it [00:21, 30.51it/s]
681it [00:21, 30.27it/s]
685it [00:21, 31.04it/s]
689it [00:21, 31.40it/s]
694it [00:21, 33.42it/s]
698it [00:21, 34.67it/s]
702it [00:21, 30.88it/s]
706it [00:21, 31.06it/s]
710it [00:22, 29.92it/s]
715it [00:22, 32.24it/s]
719it [00:22, 32.00it/s]
723it [00:22, 30.20it/s]
727it [00:22, 31.22it/s]
731it [00:22, 31.45it/s]
735it [00:22, 28.00it/s]
739it [00:23, 30.06it/s]
743it [00:23, 30.95it/s]
747it [00:23, 31.63it/s]
751it [00:23, 33.01it/s]
755it [00:23, 31.71it/s]
759it [00:23, 31.34it/s]
763it [00:23, 30.75it/s]
767it [00:23, 30.97it/s]
771it [00:24, 31.66it/s]
775it [00:24, 31.10it/s]
779it [00:24, 31.53it/s]
783it [00:24, 31.94it/s]
787it [00:24, 33.51it/s]
791it [00:24, 33.13it/s]
795it [00:24, 34.10it/s]
799it [00:24, 34.51it/s]
803it [00:25, 30.22it/s]
807it [00:25, 31.41it/s]
811it [00:25, 33.52it/s]
815it [00:25, 33.25it/s]
819it [00:25, 33.70it/s]
823it [00:25, 32.00it/s]
827it [00:25, 33.61it/s]
831it [00:25, 34.32it/s]
835it [00:25, 34.35it/s]
839it [00:26, 33.08it/s]
843it [00:26, 34.30it/s]
847it [00:26, 33.87it/s]
851it [00:26, 34.84it/s]
855it [00:26, 35.87it/s]
859it [00:26, 32.33it/s]
863it [00:26, 34.19it/s]
867it [00:26, 34.31it/s]
871it [00:27, 30.92it/s]
875it [00:27, 30.78it/s]
879it [00:27, 30.46it/s]
883it [00:27, 30.62it/s]
887it [00:27, 32.11it/s]
891it [00:27, 33.49it/s]
895it [00:27, 32.16it/s]
899it [00:27, 32.82it/s]
903it [00:28, 32.91it/s]
907it [00:28, 29.03it/s]
911it [00:28, 31.25it/s]
915it [00:28, 32.35it/s]
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927it [00:28, 32.79it/s]
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936it [00:29, 32.99it/s]
940it [00:29, 30.92it/s]
944it [00:29, 27.62it/s]
948it [00:29, 29.06it/s]
952it [00:29, 29.49it/s]
956it [00:29, 31.71it/s]
960it [00:29, 32.58it/s]
964it [00:30, 32.07it/s]
968it [00:30, 32.39it/s]
972it [00:30, 32.06it/s]
976it [00:30, 31.91it/s]
980it [00:30, 29.97it/s]
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988it [00:30, 28.89it/s]
991it [00:31, 26.01it/s]
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1001it [00:31, 29.26it/s]
1005it [00:31, 31.13it/s]
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1013it [00:31, 34.36it/s]
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1025it [00:32, 34.04it/s]
1029it [00:32, 34.14it/s]
1033it [00:32, 31.20it/s]
1037it [00:32, 31.86it/s]
1041it [00:32, 31.45it/s]
1045it [00:32, 30.64it/s]
1049it [00:32, 32.24it/s]
1053it [00:32, 32.33it/s]
1057it [00:33, 32.75it/s]
1061it [00:33, 33.68it/s]
1065it [00:33, 31.40it/s]
1069it [00:33, 30.79it/s]
1073it [00:33, 31.44it/s]
1077it [00:33, 31.60it/s]
1081it [00:33, 31.30it/s]
1085it [00:33, 31.26it/s]
1089it [00:34, 31.65it/s]
1093it [00:34, 30.36it/s]
1097it [00:34, 29.94it/s]
1101it [00:34, 31.05it/s]
1105it [00:34, 30.34it/s]
1110it [00:34, 33.41it/s]
1114it [00:34, 31.29it/s]
1118it [00:35, 30.65it/s]
1122it [00:35, 32.47it/s]
1126it [00:35, 30.58it/s]
1130it [00:35, 28.89it/s]
1134it [00:35, 31.18it/s]
1138it [00:35, 31.48it/s]
1142it [00:35, 31.95it/s]
1146it [00:35, 32.59it/s]
1150it [00:36, 31.50it/s]
1154it [00:36, 31.50it/s]
1158it [00:36, 30.14it/s]
1163it [00:36, 33.34it/s]
1167it [00:36, 34.24it/s]
1171it [00:36, 33.90it/s]
1175it [00:36, 34.80it/s]
1179it [00:36, 33.44it/s]
1183it [00:37, 32.74it/s]
1188it [00:37, 34.85it/s]
1192it [00:37, 34.93it/s]
1196it [00:37, 33.31it/s]
1200it [00:37, 34.86it/s]
1204it [00:37, 32.64it/s]
1208it [00:37, 30.70it/s]
1212it [00:37, 27.62it/s]
1216it [00:38, 29.98it/s]
1220it [00:38, 30.46it/s]
1224it [00:38, 31.29it/s]
1228it [00:38, 32.91it/s]
1232it [00:38, 31.26it/s]
1236it [00:38, 31.74it/s]
1240it [00:38, 31.89it/s]
1244it [00:38, 32.31it/s]
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1256it [00:39, 29.06it/s]
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1268it [00:39, 31.74it/s]
1272it [00:39, 33.05it/s]
1276it [00:39, 32.94it/s]
1280it [00:40, 30.21it/s]
1284it [00:40, 32.06it/s]
1288it [00:40, 32.50it/s]
1293it [00:40, 32.26it/s]
1298it [00:40, 35.31it/s]
1303it [00:40, 37.19it/s]
1307it [00:40, 36.59it/s]
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Track data saved to /working/0c46bc2c-e962-4e33-84da-2225bd579c03/processing/data/alignment.track.json
 Writing PTD file in cbor format...           Completed!
 PTD file is written to: /working/0c46bc2c-e962-4e33-84da-2225bd579c03/processing/data/laser_aligned.ptd.cbor